DE3209038A1 - STEERING SYSTEM FOR A SEQUENCE OF RAILLESS VEHICLES - Google Patents

Description

S-54 994

Steering system for a series of railless vehicles

The invention relates to steering or control systems for trains from vehicles, which without intervention with for guidance serving rails roll on wheels. A special application are continuous transport systems that are a Use a range of mobile means of transport, for example to carry coal or other mined vehicles Moving material away from underground mines. A transport train may be required for underground mines to proceed along a curvilinear or serpentine path during mine operation and run back. As a result, precise tracking of one vehicle behind the other is of great importance Importance, both in the forward and backward movement of the transport vehicles. Other important applications can be the vehicle trains, which, for example, at the airport and the like. Baggage transport, as well as the sequence of trains of means of transport when transporting goods into a storage facility and out of this.

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Well-known control or steering systems for vehicle trains made a wagon or bogie system is required, with the- front wheels each vehicle is arranged on a common axle which is pivotable in its center, with a handlebar connection to the preceding vehicle. Buckling and sliding processes typically occur in such systems. Steering systems of Pin designs were used along with various adaptations to improve tracking. A double joint was at steering linkages between the front and rear Vehicles used, with funds to each to keep the joints rigid. It is, however, a change from rigid to flexible joint when moving from forward to reverse operation required. A connection between the front and rear wheels of a common vehicle were provided to turn equal in opposite directions Provide directions when steering the vehicle.

In other systems, an arrangement of wheel axles is through Cross bars connected and stabilized by springs arranged between the axles. The feathers lie outside the Crossbar connections and stretch or compress, to record the movement while turning or sweeping and stabilize. This system allows sliding or rolling on the rims. A joint sag can also allow a distraction.

Bridge girder systems have also been used which alternately alternate vehicles are controlled by a user. Lean means of transport form bridges between the controlled vehicles, so that the material along the line of transport means carried by the controlled Vehicles and bridges can be transported in a cascade. However, if more than two or three actuated

Vehicles become necessary, the coordination between the vehicle drivers becomes complicated. Use bridge transport often long vehicle unit vehicles in order to maximize the transport distance with fewer vehicle drivers. As a result, the space required for turning or sweeping is increased.

The invention is based on the aim of a steering system for For use on a train comprising a plurality of vehicles, each vehicle being permitted is guided along a curved path behind a preceding vehicle.

The invention also provides a steering or control system within a train or train of vehicles to Permit track following in forwards and backwards directions.

The invention aims at a combined steering and coupling system between neighboring vehicles within a train of vehicles.

Another object of the invention is to provide a control coupling system for a train of vehicles, with arranged wagons in the train follow the preceding wagons without individual users or drivers being provided have to. Another object of the invention is to provide a steering or control system for vehicles within a train of vehicles, with tracking error recovery settings being provided.

Another object of the invention is to provide a trackless series of connected vehicles with a steering system for precise tracking of individual

Vehicles in both forward and reverse directions along a curved path.

Kerner aims at the invention with a single vehicle to provide a steering system which is capable of interfacing with neighboring vehicles and which is accurate Shows lane guidance behind the neighboring vehicle along a curved path.

The invention also provides a trackless series of vehicles which provide a continuous transport system, around. to form solid material along curved tracks, these tracks from mine formations of space and column construction lead out.

According to the invention, a steering or control system couples a vehicle to an adjacent vehicle within one of several Train with vehicles. The steering system initiates Pair of wheels, each wheel separately associated with a generally vertical pivot point of a vehicle stands to support some of its weight. Swivel arms are provided for each wheel of the wheel pair and do this Rotating the wheel about its pivot point when steering the vehicle. A second pair of wheels is similarly through im whole vertical pivot points connected to the neighboring vehicle. Swivel arms are on each wheel of the second pair provided to the turning while steering the vehicle to cause. An elongated control rod is pivotable connected at opposite end portions to the one vehicle or the adjacent vehicle. Connect joint means the corresponding end parts of the steering rods with the pivot arms of the pair of wheels on the corresponding vehicle. the Steering means are provided so that the wheels with a Angles are positioned proportional to the angle of the

Control rod with respect to the vehicle's longitudinal axis. This The control system has the precise tracking of the first pair of wheels and the second pair of longitudinally curved wheels Result in trajectories traversed by a series of vehicles.

According to special inventive measures, the pivotable between the first and an adjacent vehicle has Steering or control rod sufficient strength, to absorb the forces between the vehicles that occur during the movement of the train and the handlebar it is essentially the only load-bearing coupling member which is between the neighboring Vehicles for connection is provided.

According to a further aspect of the invention, the articulation means comprises a pair of crossed articulation members that are attached to a their ends are connected to outer, widthwise edges of the handlebar end part and further are connected with their opposite ends to the individual wheel swivel arms. The joint means are with corresponding swivel arms connected at points in Are arranged longitudinally with respect to the handlebar.

Another important aspect of the invention is that the articulation means and the control rod with the aforementioned one vehicle and the adjacent vehicle are connected in such a way that a wheel deflection is at an angle of about half the angle of the handlebar deflection takes place with respect to the longitudinal axis of the corresponding vehicles.

According to a further aspect of the invention, adjustment means are provided in order to move the articulated connections transversely, taking into account the handlebar

Pivot point on the vehicle.

The invention provides a train or a train of vehicles which are suitable for rail-less operation, wherein each of the vehicles a variety of pivotally mounted. Has wheels. The vehicles are only coupled to one another by a plurality of handlebars, each one the steering or control rods is pivotally connected to opposite end portions on adjacent vehicles. · Each handlebar is articulated between its longitudinal end portions and the nearby pair of wheels of the associated vehicle intended. The hinge means and handlebars are arranged so that the wheel position in a curve is approximately is half the angle of the handlebar with respect to the longitudinal axis of the vehicle. According to other measures and benefits of the train according to the invention there is a receiving vehicle with transport means for collecting at one end solid material, a delivery vehicle at the opposite end with means of transport to deliver the solid material and with vehicles arranged in between for the -'kaskade-like Movement of the solid material between the pick-up and drop-off vehicles. Each of the vehicles on the train is showing a continuous transport device as part of a continuous Total transport system. According to a further specific aspect of the invention, each vehicle has on the train a self-contained propulsion system which is able to drive at least this single vehicle along the surface, on which it is located to drive. .

Further advantages, objectives and details of the invention emerge in particular from the claims and from the following Description of exemplary embodiments based on the drawing; in the drawing shows:.

Fig. 1 is a schematic view of a

Vehicle and steering system;

Fig. 2 is a partial view of two adjacent

ter vehicles coupled by a handlebar with articulated means are;

Fig. 3 is an enlarged schematic part

view of the joint center geometry of a handlebar coupling system;

4 is a plan view of a vehicle

for use in a train of a multiple unit continuous transport system;

Flg. 5 is a schematic representation of a

Train made up of vehicles, used on a serpentine track in a space and column mine;

Fig. 6 is a schematic representation of the

Tracking error compensation system;

7 shows an enlarged partial cross-section

a handlebar correction mechanism, which can be used in a tracking error compensation system.

According to FIG. 1, a vehicle 10 has a floor frame 11 and is equipped with a schematically shown steering or control system, which within .eines train

or a series of coupled vehicles can be used. The steering system has a steering or control rod 13, which is pivotably connected to the frame 11 of the vehicle 10, specifically at a pivot point 15 on the longitudinal axis of the vehicle. A second pivot connection 17 is on the opposite end portion of the handlebar 13 intended for connection to a neighboring vehicle. Similarly, pivot point 17 'is with the handlebar 13 'at the opposite end of the vehicle 10 connected. The end parts 1-6,18 of the handlebar 13 are with shown enlarged width in order to provide suitable locations for connecting devices, which will be described below will.

Have the handlebar 13 and their pivot connections Sufficient strength to withstand the tensile and compressive forces that occur during normal operation of the train from vehicles to resist. An important aspect of the steering system according to the invention is that other coupling · management links between the vehicle frame are no longer necessary. The handlebar fulfills the combined functions of coupling the vehicles and deflecting the wheels to a proper turning angle.

The vehicle 10 is conventionally provided with one front and. rear pair of wheels 19 and 23 shown. Each of the wheels is separately from pivot pin pivot means 21, 21A, 25 and 25A are held on the vehicle frame 11. The four Pivoting means of the pivot pin type define the wheel base and also the longitudinal axis of the vehicle 10 for the purposes of this application.

Swivel arms 31 and 33 are shown as part of the wheel yokes and connect the wheels, 19,23 individually with the wheel

pivot means 21, 21A, 25 and 25A. Crossed connecting rod pairs or articulation means 27 and 29 are between the end parts of the pivot arms 31 »33 and the end parts 16,18 'of Steering rods 13,13 'connected. Form the connecting rods thus articulation means between the pairs 19,23 and corresponding handlebar end parts 16,18 'to allow angular movement or To transmit deflections of the handlebars, and to provide a proportional deflection of the wheels during the movement of the train along a curved path.

It can be seen that the handlebar positions in vehicles along a curved path "record" or "remember" that path retained "such that movement can be interrupted or reversed, as the needs of a mine or mine Mine operation without the proper tracking of the following vehicles being disturbed. The handlebar positions on the vehicle at a specific point in a curved path are followed by an adjacent one Vehicle captured when it reaches the same point so as to provide proper steering and tracking of vehicles.

As shown in Fig. 1, the ^{1 has} deflection or turning angle Θ ,. of the wheels in the pair of wheels 19 with respect to the longitudinal axis of the vehicle wheel base is a proportional relationship to the deflection θ ~ of the connected steering rod 13 with respect to the axis. The relationship of the angular wheel deflection versus the handlebar deflection is approximately equal to the wheel base length, ie the distance between the pivot points 21 and 25 and the vehicle distance. The vehicle distance is the distance between points on neighboring vehicles, for example between pivot point 17 · and pivot point 17 · It is also the axial length between rear wheels 23 and corresponding rear wheels of the vehicle in front (not shown). In the

Vehicles illustrated in Figure 1 and the other drawings have a wheel base length to inter-vehicle length ratio of about 0.51 and accordingly hinge means between the handlebars and the wheel swing arms to provide wheel turning deflections of about 0.5 with respect to the deflection of the handlebar from the longitudinal axis of the vehicle. For example has a in practice in a space and column mine- V-. The train used drove approximately 5 feet driving width with a wheel base length 9 feet, handlebar lengths of 5.4 feet, and a vehicle spacing of 19 feet. In such a vehicle ' the handlebar pivot points are at 6.8 feet on the fore and aft. axis opposite the center of the vehicle. V

This approximately 2: 1 relationship between the handlebar angle and the angle of wheel deflection is the appropriate angle for a train of vehicles to turn pair of wheels after pair of wheels at the To guide movement in a continuous curve. The specified Example with a wheel deflection equal to about Half of the handlebar deflection is roughly what is required for a vehicle platoon where the individual Vehicle bases are approximately half the vehicle spacing. However, these distances can be changed with respect to the wheel base; in practice these relationships are approximately 0.4 to 0.6 or preferably about 1/2. Considerably shorter distances with respect to the wheel base have problematic features to the As a result, the turning radius of the train consisting of vehicles is undesirably longer because the distances from the wheel base are significantly longer raise.

FIG. 2 illustrates the coupling and steering rod articulation means of a vehicle 10 with an adjacent vehicle 10 ¹ . The handlebar 13 'is pivotably connected at points 17' and 15 ¹ to the vehicle frame 11 and 11, respectively. In a moving train, the relative positions of the two driving

he the alignment of the handlebar 13 ', and accordingly the positioning of the pairs of wheels 23 and 19' to effect the tracking.

The handlebar and hinge means on the front and rear pairs of wheels of vehicle 10 are arranged in symmetrical but oppositely facing configurations. As can be seen in FIGS. 1 and 2, the steering configuration at the front of the vehicle is essentially the same as that shown at the rear of the vehicle. This symmetry includes, among other things, the axial position of the handlebar pivot points 15 and 17 'with respect to the wheel base, and also the lengths of the handlebars 13>13'> the connecting rods 27, 29 and the connection points of the connecting rods 27 and 29 with the handlebar and the wheel pivot arms 31 and 33 The dimensions, positions and angular arrangements of these two symmetrical steering arrangements on the vehicle 10 are almost identical, but have opposite orientations. It can also be seen that the steering configurations are essentially the same on the vehicles 10, 10 ¹ and the other vehicles in the train.

Fig. 3 shows an enlarged diagram of the hinge means between the handlebar and the swivel arms. Crossed connecting rods 27 form a connection between the end part 16 of the handlebar 13 and the wheel yoke pivot arms 31 of the wheels 19. The Connecting rods are with opposite widths Edges of the handlebar end parts at points 35 and connected to ends of the pivot arms 31 at points 37. The swivel arms 31 are slightly angled towards the handlebar and thus take the connecting rods at points 37 a little .zum Lenkstangenendteil out on. These minor deviations from the square wheel base, represented as Φο> a steering geometry of the Ackermann type can be seen for the swivel arm joint connections before what allows the inner wheel to turn on a curve with

49

is deflected at a slightly larger angle than the one on the outside Wheel.

In the illustration according to FIG. 3, the steering system is such designed so that corresponding values are supplied that approx. 1 ° deflection of the wheels for every 2 ° deflection allow the handlebar. Table I gives various dimensions and angles related to the desired steering relationship are important for the vehicle.

Table I.

Designation in Fig. 3

R.J - Distance from handlebar pivot point for connecting rods

φ. - angle of the connecting rod connection point, around the handlebar pivot point

Rp - length of the wheel yoke swivel arm between Wheel pivot point and connecting rod connection

φρ - angle of the connecting rod connection point from the wheel pivot point

L ^ - length of the connecting rod

Lp - In-line distance between wheel and handlebar pivot points

Lv - lateral distance between wheel and j

Handlebar pivot points

value
6.9 in.

30 °

16.2 in.

■ 5 °

27.1 in. (Inches) 27.5 in. (Inches)

25 in.

The values given in Table I are just a set of Values that result in the desired wheel deflection of approximately 1 ° for every 2 ° deflection of the steering rod. Other

Value ^: itze, in which all lengths are proportional to the given, can also result in suitable steering and tracking values within a vehicle platoon. However, significant deviations in just one or two values can create unacceptable wheel steering angles.

Another example of suitable values for the lengths of the steering connection means of Fig. 3 are given in Table II. The angles OIL and φρ are the same as those given in Table I. The lengths given in Table II are somewhat less advantageous than those in Table I because of the use of this latter set of dimensions have much tighter connections with less play on the connecting rod connection 35 »37 is necessary than is the case with the connector dimensions according to Table I is the case.

in Fig. 3 Table II description R ₁ .
R ₂
^L 2 '

Inch (inch

3.0

8.0 30.7 27.5 25.0

It should be noted that other sets of values can be used in the proper proportion to obtain the desired relationship of handlebar to wheel deflection. It is also advantageous to make adjustments to the connecting _{rod lengths (L 1} ) to ensure that the vehicle wheels are parallel to the longitudinal axis of the vehicle.

can be directed.

Fig. 4 shows a vehicle that advantageously can use steering system according to the invention. The vehicle 40 has a frame 41 which carries a continuous transport device 43, such as a chain or belt conveyor for solid clippings, i.e. in material extracted from a mine. The receiving part 45 of the vehicle and the transport device or the transport means is at a lower level than the delivery part 4? arranged, to allow the solid material to be cascaded from one vehicle transport device to the next. As shown, the vehicle is equipped with wheels 49 and a drive motor 51 for forward and reverse operation of the vehicle. A separate drive motor 53 provides the power required for the continuous transport device 43.

The illustrated vehicle 40 is as an intermediate Vehicle suitable within a train of such vehicles. A vehicle of similar design with a special Adapted receiving part for coordination with, for example, a continuous mining machine can be used as a lead vehicle in.einem Zug. The lead vehicle can also have a compartment for the user with the appropriate traction control means.

Another vehicle of the same type can be used as a delivery vehicle at the end of the train. The levy vehicle would accordingly be equipped with a suitable transport device as well as discharge tools to be equipped to transfer the transported waste material into a further system such as a permanently installed belt or chain transport device.

Figure 5 shows schematically a train of vehicles operating in a serpentine or curved path within a space and column mine excavation. The train is followed by a continuous mining or mining machine 55, followed by a leader or receiving vehicle 57, a plurality of intermediate vehicle 58 and a Abladefahrzeug 59 · D ^as Abladefahrzeug 59 is equipped with a transition transport device 61, which serves an in roll engagement with elongated permanently installed continuous transport means 63 to slide or move.

Particulate matter, such as from the walls of the mine by a continuous mine device 55 separated material is received in the receiving or receiving end portion or hopper 56 of the loading vehicle 57. That Material cascades from the continuous transport device of vehicle 57 to and along one Row of intermediate transport devices carried by vehicles 58 arranged therebetween. The transport device on the delivery vehicle 59 and the transfer device 61 then pass the material on the permanently installed transport device 63.

When operating the transport device train, the operator drives on the lead vehicle 57 and holds the receiving hopper or container 56 in alignment with the exit of the continuous mining or extraction device 55. A second operator can monitor the operation of the exhaust vehicle 59 and the transition transport device 61 can be used. If the continuous If the excavation device 55 is moved forward, the operator in the lead vehicle 57 simply follows the excavation device with the receptacle 56 in its position under-

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half of the output of the dismantling device. The intermediate vehicles 53 and the delivery vehicle 59 follow through the action of their Handlebars true to the track of the forward movement of the vehicle 57. There can thus passages 65 in the under the Earth located mine are cut, whereby a plurality of pillars 67 are left to support the "roof". When withdrawing from an individual passage the operator switches the lead vehicle 57 into reverse gear and does not make any effort to move the receptacle 56 under the excavator exit. That Lead vehicle 57 is now the last vehicle in the train, and its rear wheels are steered so that it is true to the Path or path of the preceding intermediate vehicle 58 follows.

The serpentine path that the train used to excavate the room and columns is in memory by the positions of the handlebars of each of the intermediate vehicles 50 within of the train recorded. When the train withdraws from a room 65, the delivery vehicle 59 moves parallel to the permanently installed transport device 63> followed by the remainder of the intermediate vehicles 58 passing through the Position of their handlebars follow the dictated path. During each intermediate vehicle 58 there is a curved portion moves along the path, it adjusts its following handlebar to keep following vehicles along the same Control path. ,

In some cases a smooth mine or mine floor or a steep slope can result in a Vehicle within the train moves towards a column or other obstacle and hits it. One The possibility of resolving such an incident is shown in the tracking error elimination system of FIG. In Fig.

6 the elements are shown schematically, and there are those the same reference numerals are used as in the arrangement shown in FIG. T consisting of the front pair of wheels and the handlebar. However, it can be seen that this tracking error recovery system every handlebar in the train can be used for every swivel connection.

The tracking error is eliminated by means for the lateral translational movement of the handlebar pivot point 15 As shown, this tensions the pair of wheels 19 in a direction opposite to the lateral translational movement to allow the impaired vehicle to move away from the obstacle. Both the front and rear wheels of the affected vehicle are deflected or pre-tensioned in the same direction, which is a corresponding Biasing the handlebars results in a displacement throughout the train from the vehicles to the side of the To generate obstacle. It is important that both the front and the rear wheels of the vehicle are included the same preload. The preload of just one pair of wheels has a number of tilted ones or tense vehicles in the train, which disrupts avoidance of the obstacle.

One way to generate the translational movement of the The handlebar is shown in FIG. The pivot point 15 of the handlebar 13 is supported on a vehicle frame Plate 71 arranged. The plate 71 has a slot (not shown) through which the handlebar pivot point runs. The slot allows the lateral or lateral translational movement of the pivot point with respect to of the vehicle frame. A suitable crank or screw device 73 engages pivot point 15, around it so laterally within the provided in the plate 71

to press the slot.

The invention provides an improved steering system for a train sequence of vehicles when this train is along a Moving a serpentine path forwards or backwards. The train is made by the positioning of handlebars guided, which are pivotally mounted at opposite ends of each vehicle. While the lead vehicle Moving forward along a curved path, the vehicles in between faithfully follow this path. By Adjustment of the last vehicle in the train along a straight course can be an operator or a user on Leader vehicle reverse the entire train simply by keeping the path of the vehicle immediately at its rear end is pursued. A tracking error recovery system makes adjustments within the train when a vehicle is in Obstacle slides or is moved into it in any other way. The tracking error recovery provides an offset within of the original move, which is part of the through the following Vehicles traversed path is. The system is particularly well suited for moving a series of transport devices followed by a continuous mining machine within a mine excavation of the space and column construction.

In summary, the invention thus provides the following:

A steering system for use on a plurality of vehicles having train, which allows the tracking of one vehicle after another without rails. This system is particularly useful for moving transport systems in and out of a particular direction, and. although on curved paths of underground mine installations of the space and column construction. That

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The steering system provides an elongated handlebar that is pivotably connected to each of adjacent vehicles is, namely .at end parts of the rod, what the angular Orientation of any vehicle with respect to the handlebar, and other vehicles are permitted. Any end portion of the handlebar is connected to the next pair of vehicle wheels by wheel yoke pivot arms via pivot pin pivot means. Movement of the handlebar around its pivot joint allows the wheels to rotate proportionally so as to enable steering and tracking of vehicles following one another, both forward and in Follow reverse directions.

Claims (1)

EXPECTATIONS A steering system for coupling a vehicle (10) with e i no adjacent vehicle (1O ¹⁾ within a train, the system comprising a first pair of wheels (23) each separately with vertically extending across the pivot means (25) on a vehicle is connected to carry part of its weight, and wherein further each wheel of the pair (23) is equipped with pivot arms (33) which are suitable for receiving moments of force in order to rotate the corresponding wheel with respect to the longitudinal axis of the to operate a vehicle (10), and wherein there is a second pair of wheels (19 *), each wheel being arranged with separate pivoting means (21 ') on the adjacent vehicle (10 ¹ ) in order to carry part of its weight, and wherein'furthermore each wheel of the second pair of wheels (19 ') has a pivot arm (31') which absorbs moments of force in order to cause a rotational movement of the corresponding wheel with respect to the longitudinal axis of the adjacent vehicle (10 ·), geke Characterized by an elongated handlebar (13 ') »which is ^{pivotably connected to one end part (18 1} ) of one vehicle (10) and which is connected to a second end part (16 ^! ) is pivotally connected to the neighboring vehicle (1O ¹ ), wherein the first (18 ·) and second (16 ¹ ) end parts are at opposite longitudinal ends of the handlebar (13 '), and wherein further a first hinge device (29) the one end part (18 ¹ ) the · handlebar (13 ¹ ) with the swivel arms (33) of the pair of wheels (23) on a vehicle (10) connects to the wheels at an angle proportional to the . Angle of the handlebar (13 ') to position with respect to the longitudinal axis of the one vehicle (10), and wherein a second articulation device between the second end parts (16') of the handlebar (13 ¹ ) and the individual pivot arms (31 '(of the second pair of Wheels (19 *) on the neighboring vehicle (10 ·) is provided to position the wheels (19 *) at an angle proportional to the angle of the handlebar (13 ¹ ) with respect to the longitudinal axis of the neighboring vehicle (10 ·), thereby facilitating the movement of the train results in the tracking of the second pair of wheels (19 *) along the path of the first pair of wheels (23). 2. Steering system according to claim 1,
characterized, that. the handlebar has sufficient strength to absorb all tensile and compressive loads, that between the mentioned one and the neighboring vehicles during the usual longitudinal movement of the vehicle platoon appear. 3 steering system according to claim 1 and / or 2, characterized, that the handlebar has opposite end portions of greater width than the central portion, and that the first and second hinge means or devices are each connected to one of the end portions of greater width, namely at one point, offset outwards in relation to the handlebar length in relation to their pivot connection points with one vehicle and the neighboring vehicle. k. Steering system according to one or more of the preceding claims, in particular according to claim 2, 3209033 characterized, that one vehicle and the neighboring vehicle are essentially free of load-bearing coupling members are, with the exception of the steering rod connection of the vehicles. 5 · Steering system according to one or more of the preceding Claims, in particular according to Claim 1, characterized in that that the first steering means (articulation device) comprise first and second crossed articulations, each articulation with opposite broad-like edges of one end portion of the elongated handlebar in connection stand, and each joint "also individually with each pivot arm of each wheel of the pair mentioned on the Vehicle are connected, and wherein the second articulation means comprises a first and a second crossed articulation, each joint having opposite broad-like edges of the second end portion of the handlebar connected and individually to the pivot arms of each wheel of the pair mentioned on the adjacent one Vehicle is connected. 6. Steering system according to one or more of the preceding claims, in particular according to claim 5, characterized, that the first hinge means have first and second crossed hinges which are substantially the same, like the mentioned second hinge means, in terms of dimensions and connection points, to be precise corresponding to the corresponding handlebar end parts and the corresponding swivel arms. 7 · Steering system according to one or more of the preceding / • nsprUche, in particular according to claim 6 ,. cadu ch marked, '·. that the first and second crossed joints with corresponding ones Swing arms are connected, at points that are in the longitudinal direction inwardly opposite the Handlebars are arranged, and the corresponding wheels are aligned parallel to the longitudinal axis of the vehicle find. 8. Steering system according to one or more of the preceding claims, in particular according to claim 1, characterized, that the handlebar together with the first and second articulation means in such a way with the vehicle and the admonished adjacent vehicles are connected so that the first pair of wheels is at an angle of approximately half the Angle of the mentioned handlebar to the longitudinal axis of said one vehicle assumes, and that the second pair of wheels assumes an angle of approximately half that which the handlebar with respect to the longitudinal axis of the neighboring vehicle. 9. steering system according to one or more of the preceding claims, in particular according to claim 1, characterized in that leave the elongated handlebar between pivot points is connected on the longitudinal axes of the mentioned one vehicle and the 3r mentioned adjacent vehicle. 10. Steering system according to one or more of the preceding claims, in particular according to claim 1, characterized, that means are provided at each end portion of the handlebar are responsible for the lateral translational movement of their swivel connection with respect to the longitudinal axis of the vehicle on which the handlebar end part is connected. 11. Steering system according to one or more of the preceding claims, in particular according to claim 1, characterized, that the hinge means which the end parts of the handlebar and connecting the wheel swing arms at inwardly located locations axially with respect to the pivot connections of the handlebar and wheels on said one and on said one adjacent vehicle are connected. 12. Train from vehicles with multiple steering systems according to claim 1, built-in between neighboring vehicles of the Zugs and. Used to couple the same. 13 · Vehicle with four wheels, each of which can be swiveled with .this through, one of four corresponding separate vertical pivot means is connected to a handlebar which is pivotable at one end portion with the vehicle is connected at an axially aligned location, and wherein the handlebar at the opposite end portion with Means for pivoting connection with an adjacent vehicle is equipped, and with Gclenkmittel, arranged between the connected end portion to a close pair of the Wheels pivotally connected to the vehicle, thereby reducing the angle of the mentioned handlebar with respect to the longitudinal axis of the vehicle is approximately twice as large as the '.angle of the mentioned pair of wheels opposite the longitudinal axis of the vehicle. 14. Railless train made up of a series of interconnected vehicles, with each vehicle front and rear Having a pair of wheels for supporting the vehicle, and wherein each wheel can be swiveled via a diagonal connection with the Vehicle is connected, and wherein the vehicles are coupled to one another by a plurality of steering rods are, the ji; de pivotable on their opposite End parts arranged in connection between adjacent vehicles, each handlebar having Joint means is equipped, which establish the connection, provide from their longitudinal end parts to adjacent pairs of wheels on the corresponding vehicle for positioning the wheels with a turning angle of approximately half of the Angle of the handlebar with respect to the vehicle's longitudinal axis, which makes the wheels of each vehicle in the moving Train from vehicles almost follow the wheels of the preceding vehicle. 15. Railless train according to claim 14, wherein each vehicle contains a self-contained propulsion system which is capable of at least this single vehicle along the surface on which it rests. 16. Railless train according to claim 14, characterized, that the individual wagons of the train carry a continuous transport system to transport solid material, und.wobei the train has a pick-up vehicle for collecting said solid material, as well as a Delivery vehicle, at the opposite end for delivering the solid material to a stationary transport system, and wherein there are intermediate vehicles coupled between the pick-up and drop-off vehicles, and wherein furthermore, each of the intermediate vehicles has a receiving end part and a discharge end portion, the discharge end portion is at a greater height than the receiving end part to allow cascading motion of the solid material - ■ - ■ "3209033 36 - 17 trackless train according to claim 16, characterized, that the handlebar and the joint means are opposite ■ pointing but symmetrical on every intermediate vehicle in the Train with regard to the handlebar length and the position of the Pivot connections are arranged.